version: 66.08
glider: 168
mission: 2
dive: 72
start: 9 27 110 2 28 52
data:
$ID,168
$MISSION,2
$DIVE,72
$N_DIVES,80
$D_SURF,3
$D_FLARE,3
$D_TGT,500
$D_ABORT,600
$D_NO_BLEED,200
$D_BOOST,3
$T_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,110
$T_MISSION,200
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-5
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-8
$MAX_BUOY,190
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.02625
$MASS,51866
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,600
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-3257.531
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,143
$PITCH_MAX,3945
$C_PITCH,3252
$PITCH_DBAND,0.050000001
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.029999999
$PITCH_GAIN,45
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0070000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,160
$ROLL_MAX,3729
$ROLL_DEG,40
$C_ROLL_DIVE,1550
$C_ROLL_CLIMB,1700
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,39
$R_STBD_OVSHOOT,42
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,415
$VBD_MAX,3960
$C_VBD,3068
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,110
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-59.994087
$PRESSURE_SLOPE,0.000115925
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042824708
$SEABIRD_T_H,0.00062080647
$SEABIRD_T_I,2.3031862e-05
$SEABIRD_T_J,2.5001771e-06
$SEABIRD_C_G,-9.8237314
$SEABIRD_C_H,1.1028168
$SEABIRD_C_I,-0.0011486846
$SEABIRD_C_J,0.00017813468
$GPS1,270910,022437,2423.834,12705.029,39,1.0,39,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-79.3
$GPS2,270910,022825,2423.773,12705.042,7,1.1,12,-3.7
$SPEED_LIMITS,0.262,0.330
$TGT_NAME,NORTH_EDGE
$TGT_LATLONG,2430.000,12705.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,359.5,11533,-22.1,-15.152
$D_GRID,4924
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,14,-0.72,-185.1,0.0,0.0,0,101,0.00,0.00,-84.30,0.000,2,0.000,0.000,104,1531,3155,0,0,0,0,0,0
$GC,103,-0.72,-185.1,3.4,-5.0,13,132,10.12,2.17,-11.00,0.000,4,0.192,0.054,3009,2957,3826,0,0,0,0,0,0
$GC,233,-0.69,-185.1,51.2,-27.2,35,241,0.08,2.17,0.00,0.000,6,0.172,0.049,3028,1563,3827,0,0,0,0,0,0
$GC,570,-0.65,-185.1,147.6,-27.1,96,579,0.05,2.20,0.00,0.000,4,0.251,0.054,3041,162,3829,0,0,0,0,0,0
$GC,644,-0.64,-185.1,165.2,-21.4,103,648,0.00,2.05,0.00,0.000,6,0.000,0.040,3032,1536,3829,0,0,0,0,0,0
$GC,970,-0.62,-185.1,236.4,-19.7,133,975,0.08,2.12,0.00,0.000,4,0.213,0.054,3051,155,3830,0,0,0,0,0,0
$GC,990,-0.61,-185.1,241.2,-19.9,134,1000,0.00,2.10,0.00,0.000,6,0.000,0.038,3042,1539,3830,0,0,0,0,0,0
$GC,1318,-0.61,-185.1,295.0,-15.7,165,1322,0.00,2.12,0.00,0.000,4,0.000,0.046,3032,2959,3830,0,0,0,0,0,0
$GC,1339,-0.62,-185.1,298.8,-15.4,166,1348,0.05,2.20,0.00,0.000,6,0.120,0.046,3057,1544,3830,0,0,0,0,0,0
$GC,1667,-0.65,-185.1,342.6,-13.5,197,1670,0.00,2.10,0.00,0.000,4,0.000,0.057,3058,165,3830,0,0,0,0,0,0
$GC,1697,-0.68,-185.1,346.6,-12.9,199,1701,0.00,2.08,0.00,0.000,6,0.000,0.041,3050,1556,3829,0,0,0,0,0,0
$GC,2023,-0.71,-185.1,387.6,-13.4,229,2028,0.10,2.15,0.00,0.000,4,0.097,0.048,2941,2963,3828,0,0,0,0,0,0
$GC,2085,-0.69,-185.1,399.7,-20.5,234,2090,0.28,2.15,0.00,0.000,6,0.122,0.048,3030,1548,3828,0,0,0,0,0,0
$GC,2410,-0.71,-185.1,451.6,-15.1,264,2414,0.00,2.12,0.00,0.000,4,0.000,0.057,3032,166,3826,0,0,0,0,0,0
$GC,2505,-0.74,-185.1,466.3,-14.8,272,2509,0.00,2.08,0.00,0.000,6,0.000,0.042,3023,1549,3826,0,0,0,0,0,0
$STATE,2759,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2759,begin apogee
$GC,2763,-0.18,0.0,500.4,13.3,296,2914,0.45,0.00,139.65,0.851,4,0.103,0.000,3193,1708,3067,0,0,0,0,0,0
$STATE,2915,end apogee,CONTROL_FINISHED_OK
$STATE,2915,begin climb
$GC,2917,0.72,185.1,504.6,0.0,309,3071,0.75,0.00,144.98,0.832,6,0.050,0.000,3492,1709,2313,0,0,0,0,0,0
$GC,3386,0.67,185.1,435.8,17.2,352,3391,0.10,2.10,0.00,0.000,4,0.183,0.039,3465,3111,2304,0,0,0,0,0,0
$GC,3455,0.64,185.1,424.4,15.8,358,3464,0.05,2.22,0.00,0.000,6,0.156,0.044,3457,1694,2304,0,0,0,0,0,0
$GC,3782,0.64,204.7,377.8,14.1,389,3806,0.00,0.00,15.18,0.726,6,0.000,0.000,3457,1694,2232,0,0,0,0,0,0
$GC,4125,0.64,217.3,326.6,14.5,421,4141,0.00,2.20,10.85,0.677,4,0.000,0.041,3456,3108,2182,0,0,0,0,0,0
$GC,4251,0.65,226.0,307.7,14.7,432,4264,0.00,2.22,8.68,0.641,6,0.000,0.045,3466,1689,2145,0,0,0,0,0,0
$GC,4585,0.63,226.0,256.8,15.3,463,4589,0.00,2.15,0.00,0.000,4,0.000,0.041,3466,3110,2141,0,0,0,0,0,0
$GC,4649,0.63,230.1,246.6,14.9,468,4660,0.05,2.17,4.20,0.470,6,0.158,0.044,3454,1712,2129,0,0,0,0,0,0
$GC,4976,0.66,249.6,198.4,14.1,499,4997,0.00,0.00,16.77,0.639,6,0.000,0.000,3455,1712,2049,0,0,0,0,0,0
$GC,5315,0.73,301.4,151.6,12.3,531,5362,0.10,2.33,40.72,0.627,4,0.097,0.056,3540,285,1838,0,0,0,0,0,0
$GC,5470,0.71,301.4,121.7,19.8,557,5479,0.20,2.12,0.00,0.000,6,0.134,0.033,3477,1708,1832,0,0,0,0,0,0
$GC,5803,0.77,333.8,75.5,13.4,618,5831,0.08,0.00,24.92,0.564,6,0.123,0.000,3554,1711,1706,0,0,0,0,0,0
$GC,6154,0.78,339.9,17.6,14.8,682,6169,0.17,2.28,5.47,0.418,4,0.139,0.057,3506,289,1681,0,0,0,0,0,0
$GC,6189,0.88,401.7,13.6,11.8,687,6244,0.10,2.10,47.88,0.523,6,0.093,0.031,3589,1703,1429,0,0,0,0,0,0
$STATE,6256,end climb,SURFACE_DEPTH_REACHED
$STATE,6256,begin surface coast
$FINISH,0.6,1.006260
$STATE,6273,end surface coast,CONTROL_FINISHED_OK
$STATE,6273,begin surface
$SM_CCo,6288,108.25,0.466,1,0,620,600.00
$SM_GC,1.32,0.00,0.00,108.25,0.000,0.000,0.466,103,1532,620,-9.84,-0.48,600.00
$IRIDIUM_FIX,2418.11,12708.29,270910,000056
$TT8_MAMPS,0.026964
$HUMID,44.84
$INTERNAL_PRESSURE,9.51208
$TCM_TEMP,24.60
$XPDR_PINGS,1
$24V_AH,24.5,10.681
$10V_AH,10.5,8.463
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,21.375,52.200,459.300,108.250,0.000,28.885,13.922,96.686,0.250,0.000,15.562,1674.710,2532.541,584.377,1768.979,86.074,0.000,1286.569,0.000,1611.610,0.000,0.539,0.000
$DEVICE_MAMPS,250.920,63.495,850.680,465.885,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,470.037,0.000,888.015,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334136
$DATA_FILE_SIZE,43728,700
$CAP_FILE_SIZE,83682,0
$CFSIZE,260165632,249221120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.187,178.2,1
$GPS,270910,041620,2424.078,12704.921,11,1.3,11,-3.7